CN102794491B - Device and method of automatic helical milling of hole - Google Patents
Device and method of automatic helical milling of hole Download PDFInfo
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- CN102794491B CN102794491B CN201210300281.3A CN201210300281A CN102794491B CN 102794491 B CN102794491 B CN 102794491B CN 201210300281 A CN201210300281 A CN 201210300281A CN 102794491 B CN102794491 B CN 102794491B
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- 238000003801 milling Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims abstract description 21
- 238000005553 drilling Methods 0.000 claims description 28
- 230000000153 supplemental effect Effects 0.000 claims description 10
- 238000007599 discharging Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 7
- 230000002265 prevention Effects 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000012545 processing Methods 0.000 description 7
- 239000002131 composite material Substances 0.000 description 6
- 238000003754 machining Methods 0.000 description 5
- 229910001069 Ti alloy Inorganic materials 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
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- 238000004080 punching Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
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Abstract
The invention discloses a device and a method for automatic helical milling of a hole. The device comprises a base, a spindle slide base, an outer eccentric sleeve, an inner eccentric sleeve, a torque motor, a circular grating, an electric spindle, a presser foot, an industrial camera, a linear grating, four laser distance sensors, a servo motor, a ball screw assembly, a synchronous belt and the like, wherein axes of inner and outer contours of the inner and outer eccentric sleeves have offsets; the inner eccentric sleeve is installed in the outer eccentric sleeve; and the axis of the inner contour of the outer eccentric sleeve and the axis of the outer contour of the inner eccentric sleeve are coincident. The device and the method have the advantages that the tool radial offset is realized through control of a relative rotation angle between the inner eccentric sleeve and the outer eccentric sleeve; in spindle feeding, a double-grating feedback technology is adopted so that dimple depth accuracy is guaranteed; and a preset hole position on a workpiece is detected by the industrial camera and a normal vector of the preset hole position is detected by the four laser distance sensors and the industrial camera and the four laser distance sensors cooperate with automatic numerically-controlled devices such as an industrial robot, a numerically-controlled machine tool and the like and thus high-precision and high-efficiency automatic hole milling is realized.
Description
Technical field
The invention belongs to airplane digital assembly automation drilling field, relate to a kind of automation helical milling device and method thereof.
Background technology
Along with Aerobiz fast development, in order effectively to improve the structural strength of aircraft, alleviate aircaft configuration weight, reduce aircraft energy consumption, a large amount of laminated construction that formed by aluminium alloy, titanium alloy, carbon fibre composite (CFRP) etc. that use on aircraft.Because material processability differs greatly, adopt traditional handicraft drilling process on the laminated construction being formed by aluminium alloy, titanium alloy, carbon fibre composite very complicated.In order to reach the required precision in hole, laminated construction hole of traditional handicraft processing needs to bore, expands and ream machining repeatedly, not only drilling efficiency is low, automaticity is low, labour intensity is large, and because needs bore, expand and ream machining repeatedly, making a hole needs a large amount of process tools, so deficiency in economic performance.
Helical milling technique and traditional Drilling operation make a big difference, and are characterized in that tool diameter is less than bore dia, and cutter Rao Kong in High Rotation Speed does at center helix feed motion, and Tool in Cutting sword off and on cutting material completes hole processing.According to the kinematics feature of helical milling technique, allow to adopt the hole of same tool sharpening different-diameter, and can process taper hole with cylindrical cutting tool; By its less drilling axial force, can reduce metal material burr formation, suppress the lamination of composite; Tool diameter is less than bore dia, and cutter only has local cutting edge to carry out interrupted cut to workpiece, is conducive to chip removal and heat radiation in drilling process.
In view of the good drilling characteristic of helical milling, especially for difficult-to-machine materials such as titanium alloy, composites, this novel processing technology has obtained promotion and application in aircraft manufacturing industry gradually.The helical milling equipment of automation can be brought into play the advantage of helical milling processing technology, critical component as digitlization, automation, intelligent hole-drilling system, be used in conjunction with the automatic numerical control such as industrial robot, Digit Control Machine Tool equipment, can accurately locate, be convenient to the integrated control of automation, form high accuracy, high efficiency, flexibility automatic punching system cheaply, to promoting China's Aero-Space manufacturing equipment industry automatization level, the progress of accelerating the airplane digital manufacture assembling of promotion China has great significance.
Summary of the invention
The object of the invention is for the difficult-to-machine material such as titanium alloy, composite in Large Aircraft Components, overcome in traditional method for drilling and easily cause composite processing layering and large defective workmanship and the deficiency of cutter loss, a kind of automation helical milling device and method thereof are provided.
Automation helical milling device comprises base, mounting flange, ball screw assembly, nut seat, the first servomotor, line slideway, supplemental support seat, anti-rotation screw rod, via hole slip ring, slip ring sleeve, circle grating, the mounting disc of circle grating, torque motor, interior eccentric adjusting sleeve, outer eccentric adjusting sleeve, spindle slide, electricity main shaft, cutter, prevention spiral sheath, presser feet pressure head, chip discharging tube, presser feet, industrial camera, the first linear grating, cylinder, cylinder adapter, the second linear grating, the second servomotor, Timing Belt, laser distance sensor, small synchronous pulley, large synchronous pulley, mounting flange, ball screw assembly, the first servomotor, cylinder, the first linear grating, the second linear grating and industrial camera are arranged on base, spindle slide is arranged on ball screw assembly, by nut seat, ball screw assembly, is connected with the first servomotor, the first servomotor drives ball screw assembly, rotation can promote spindle slide and does feed motion along line slideway, spindle slide inside is provided with outer eccentric adjusting sleeve, outer eccentric adjusting sleeve, the mounting disc of circle grating, slip ring sleeve connects firmly by bolt, the second servomotor is installed in spindle slide outside, the second servomotor passes through small synchronous pulley, Timing Belt, large synchronous pulley drives outer eccentric adjusting sleeve rotation, outer eccentric adjusting sleeve inside is provided with interior eccentric adjusting sleeve, torque motor is arranged between outer eccentric adjusting sleeve and interior eccentric adjusting sleeve, circle grating is arranged in round grating mounting disc, eccentric adjusting sleeve externally eccentric adjusting sleeve rotation mutually in torque motor drives, in interior eccentric adjusting sleeve, be provided with electric main shaft, mounting cutter on electricity main shaft, via hole slip ring is arranged on slip ring sleeve, and be connected with supplemental support seat by anti-rotation screw rod, supplemental support seat can move with spindle slide on line slideway, presser feet is connected with ejecting rod of cylinder by cylinder adapter, under the promotion of cylinder, can move along line slideway, and presser feet is provided with four laser distance sensors, presser feet pressure head, chip discharging tube and prevention spiral guard shield.
Distance between the inside and outside profile axis of described outer eccentric adjusting sleeve, interior eccentric adjusting sleeve is 5mm.The first described linear grating and the second linear grating are absolute type linear grating, are the position feedback elements of the first servomotor.
The step of automation method for helically milling hole is as follows:
1) automation helical milling device is fixed on automatic numerical control equipment;
2) by automatic numerical control equipment, automation helical milling device is moved to the theoretical position of pre-manufactured hole on workpiece, use is arranged on the position deviation of the industrial camera detection pre-manufactured hole of base front portion, according to measured position deviation and workpiece theoretical coordinate, draw the coordinate of actual drilling position, then automation helical milling device is moved to actual drilling position;
3) automation helical milling device moves to behind actual drilling position, by 4 laser distance sensors, detect surface of the work normal direction, automatic numerical control equipment is adjusted the pose of automation helical milling device, spindle slide axis is overlapped with surface of the work normal direction, and the installed surface of 4 described laser displacement sensors is rectangular pyramid shape;
4) cylinder is released presser feet by cylinder adapter, makes presser feet pressure head workpiece pressing;
5), according to aperture D and tool diameter d, driving moment electric machine rotation, makes the externally eccentric adjusting sleeve rotation mutually of interior eccentric adjusting sleeve, adjusts cutter radial offset or dish
, after adjustment, by hydraulic locking, keep tool offset distance constant, described cutter radial offset or dish maximum is 10mm;
6) open the second servomotor, by small synchronous pulley, Timing Belt, large synchronous pulley, drive outer eccentric adjusting sleeve to rotate, electric main shaft will be take e and around spindle slide axis, be rotated as radius; Open electric main shaft; Drive the first servomotor to drive ball screw assembly, rotation to promote spindle slide and do feed motion along line slideway, make cutter along spiral trajectory feeding, until complete drilling;
7) spindle slide is return, and presser feet is return, and closes the second servomotor, closes electric main shaft, and automatic numerical control equipment moves to the next position drilling or stops.
Described automatic numerical control is equipped for industrial robot or Digit Control Machine Tool.
The beneficial effect that the present invention compared with prior art has: 1) adjust by adjusting the automation that inside and outside eccentric adjusting sleeve relative rotation realizes cutter radial amount of bias, after adjusting, by hydraulic locking apparatus, realizing amount of bias remains unchanged, structural design is compact, add rear portion auxiliary support structure, guaranteed machining accuracy; 2) double grating feedback improves the control accuracy of axis feeding amount, realizes the accurate control of the counter boring degree of depth; 3) by laser distance sensor, detect drilling position method and vow, by industrial camera, measure the position of pre-manufactured hole, guaranteed drilling machining accuracy and security; 4) can be used in conjunction with the automatic numerical control such as industrial robot, Digit Control Machine Tool equipment, realize high accuracy, high-efficiency automatic drilling; 5) hole that use small size cutter can be machining large-sized, and drilling operating force is little, can be for the correction processing in hole, the defective workmanship that avoid tradition fraising processing to cause.
Accompanying drawing explanation
Fig. 1 (a) is the front view of automation helical milling device;
Fig. 1 (b) is the left view of automation helical milling device;
Fig. 1 (c) is the top view of automation helical milling device;
In figure: base 1, mounting flange 2, ball screw assembly, 3, nut seat 4, the first servomotor 5, line slideway 6, supplemental support seat 7, anti-rotation screw rod 8, via hole slip ring 9, slip ring sleeve 10, circle grating 11, circle grating mounting disc 12, torque motor 13, interior eccentric adjusting sleeve 14, outer eccentric adjusting sleeve 15, spindle slide 16, electricity main shaft 17, cutter 18, prevention spiral sheath 19, presser feet pressure head 20, chip discharging tube 21, presser feet 22, industrial camera 23, the first linear grating 24, cylinder 25, cylinder adapter 26, the second linear grating 27, the second servomotor 28, Timing Belt 29, laser distance sensor 30, small synchronous pulley 31, large synchronous pulley 32.
The specific embodiment
As shown in Figure 1, automation helical milling device comprises base 1, mounting flange 2, ball screw assembly, 3, nut seat 4, the first servomotor 5, line slideway 6, supplemental support seat 7, anti-rotation screw rod 8, via hole slip ring 9, slip ring sleeve 10, circle grating 11, circle grating mounting disc 12, torque motor 13, interior eccentric adjusting sleeve 14, outer eccentric adjusting sleeve 15, spindle slide 16, electricity main shaft 17, cutter 18, prevention spiral sheath 19, presser feet pressure head 20, chip discharging tube 21, presser feet 22, industrial camera 23, the first linear grating 24, cylinder 25, cylinder adapter 26, the second linear grating 27, the second servomotor 28, Timing Belt 29, laser distance sensor 30, small synchronous pulley 31, large synchronous pulley 32, mounting flange 2, ball screw assembly, 3, the first servomotor 5, cylinder 25, the first linear grating 24, the second linear grating 27 and industrial camera 23 are arranged on base 1, spindle slide 16 is arranged on ball screw assembly, 3 by nut seat 4, ball screw assembly, 3 is connected with the first servomotor 5, the first servomotor 5 drives ball screw assembly, 3 rotations can promote spindle slide 16 and does feed motion along line slideway 6, spindle slide 16 inside are provided with outer eccentric adjusting sleeve 15, outer eccentric adjusting sleeve 15, circle grating mounting disc 12, slip ring sleeve 10 connects firmly by bolt, the second servomotor 28 is installed in spindle slide 16 outsides, the second servomotor 28 is by small synchronous pulley 31, Timing Belt 29, large synchronous pulley 32 drives outer eccentric adjusting sleeve 15 rotations, outer eccentric adjusting sleeve 15 inside are provided with interior eccentric adjusting sleeve 14, torque motor 13 is arranged between outer eccentric adjusting sleeve 15 and interior eccentric adjusting sleeve 14, circle grating 11 is arranged in round grating mounting disc 12, eccentric adjusting sleeve 14 externally eccentric adjusting sleeve 15 rotations mutually in torque motor 13 drives, in interior eccentric adjusting sleeve 14, be provided with electric main shaft 17, mounting cutter 18 on electricity main shaft 17, via hole slip ring 9 is arranged on slip ring sleeve 10, and be connected with supplemental support seat 7 by anti-rotation screw rod 8, supplemental support seat 7 can move with spindle slide 16 on line slideway 6, presser feet 22 is connected with cylinder 25 push rods by cylinder adapter 26, under the promotion of cylinder 25, can move along line slideway 6, and presser feet 22 is provided with four laser distance sensors 30, presser feet pressure head 20, chip discharging tube 21 and prevention spiral guard shield 19.
Distance between the inside and outside profile axis of described outer eccentric adjusting sleeve 15, interior eccentric adjusting sleeve 14 is 5mm.The first described linear grating 24 and the second linear grating 27 are absolute type linear grating, are the position feedback elements of the first servomotor 5.
The step of automation method for helically milling hole is as follows:
1) automation helical milling device is fixed on automatic numerical control equipment;
2) by automatic numerical control equipment, automation helical milling device is moved to the theoretical position of pre-manufactured hole on workpiece, use is arranged on the position deviation of the industrial camera 23 detection pre-manufactured holes of base 1 front portion, according to measured position deviation and workpiece theoretical coordinate, draw the coordinate of actual drilling position, then automation helical milling device is moved to actual drilling position;
3) automation helical milling device moves to behind actual drilling position, by 4 laser distance sensors 30, detect surface of the work normal direction, automatic numerical control equipment is adjusted the pose of automation helical milling device, spindle slide 16 axis are overlapped with surface of the work normal direction, and the installed surface of 4 described laser displacement sensors 30 is rectangular pyramid shape;
4) cylinder 25 is released presser feet 22 by cylinder adapter 26, makes presser feet pressure head 20 workpiece pressings;
5) according to aperture D and tool diameter d, driving moment motor 13 rotates, and makes externally eccentric adjusting sleeve 15 rotations mutually of interior eccentric adjusting sleeve 14, adjusts cutter 18 radial offset distances
, after adjustment, by hydraulic locking, keep cutter 18 offset or dishes constant, described cutter 18 radial offset are 10mm apart from maximum;
6) open the second servomotor 28, by small synchronous pulley 31, Timing Belt 29, large synchronous pulley 32, drive outer eccentric adjusting sleeve 15 rotations, electric main shaft 17 will be take e and around spindle slide 16 axis, be rotated as radius; Open electric main shaft 17; Drive the first servomotor 5 to drive ball screw assembly, 3 rotations to promote spindle slide 16 and do feed motion along line slideway 6, make cutter 18 along spiral trajectory feeding, until complete drilling;
7) spindle slide 16 is return, and presser feet 22 is return, and closes the second servomotor 28, closes electric main shaft 17, and automatic numerical control equipment moves to the next position drilling or stops.
Described automatic numerical control is equipped for industrial robot or Digit Control Machine Tool.
Claims (5)
1. an automation helical milling device, it is characterized in that comprising base (1), mounting flange (2), ball screw assembly, (3), nut seat (4), the first servomotor (5), line slideway (6), supplemental support seat (7), anti-rotation screw rod (8), via hole slip ring (9), slip ring sleeve (10), circle grating (11), circle grating mounting disc (12), torque motor (13), interior eccentric adjusting sleeve (14), outer eccentric adjusting sleeve (15), spindle slide (16), electricity main shaft (17), cutter (18), prevention spiral sheath (19), presser feet pressure head (20), chip discharging tube (21), presser feet (22), industrial camera (23), the first linear grating (24), cylinder (25), cylinder adapter (26), the second linear grating (27), the second servomotor (28), Timing Belt (29), laser distance sensor (30), small synchronous pulley (31), large synchronous pulley (32), mounting flange (2), ball screw assembly, (3), the first servomotor (5), cylinder (25), the first linear grating (24), the second linear grating (27) and industrial camera (23) are arranged on base (1), spindle slide (16) is arranged on ball screw assembly, (3) by nut seat (4), ball screw assembly, (3) is connected with the first servomotor (5), the first servomotor (5) drives ball screw assembly, (3) rotation can promote spindle slide (16) and does feed motion along line slideway (6), spindle slide (16) inside is provided with outer eccentric adjusting sleeve (15), outer eccentric adjusting sleeve (15), circle grating mounting disc (12), slip ring sleeve (10) connects firmly by bolt, the second servomotor (28) is installed in spindle slide (16) outside, the second servomotor (28) is by small synchronous pulley (31), Timing Belt (29), large synchronous pulley (32) drives outer eccentric adjusting sleeve (15) rotation, outer eccentric adjusting sleeve (15) inside is provided with interior eccentric adjusting sleeve (14), torque motor (13) is arranged between outer eccentric adjusting sleeve (15) and interior eccentric adjusting sleeve (14), circle grating (11) is arranged in round grating mounting disc (12), eccentric adjusting sleeve (14) externally eccentric adjusting sleeve (15) rotation mutually in torque motor (13) drives, in interior eccentric adjusting sleeve (14), be provided with electric main shaft (17), the upper mounting cutter (18) of electricity main shaft (17), via hole slip ring (9) is arranged on slip ring sleeve (10), and be connected with supplemental support seat (7) by anti-rotation screw rod (8), supplemental support seat (7) can be upper mobile at line slideway (6) with spindle slide (16), presser feet (22) is connected with cylinder (25) push rod by cylinder adapter (26), can be along line slideway (6) motion under the promotion of cylinder (25), presser feet (22) is provided with four laser distance sensors (30), presser feet pressure head (20), chip discharging tube (21) and prevention spiral guard shield (19).
2. a kind of automation helical milling device according to claim 1, is characterized in that the distance between the inside and outside profile axis of described outer eccentric adjusting sleeve (15), interior eccentric adjusting sleeve (14) is 5mm.
3. a kind of automation helical milling device according to claim 1, is characterized in that described the first linear grating (24) and the second linear grating (27) are absolute type linear grating, is the position feedback elements of the first servomotor (5).
4. the automation method for helically milling hole that use is installed as claimed in claim 1, is characterized in that its step is as follows:
1) automation helical milling device is fixed on automatic numerical control equipment;
2) by automatic numerical control equipment, automation helical milling device is moved to the theoretical position of pre-manufactured hole on workpiece, use is arranged on the position deviation that the anterior industrial camera (23) of base (1) detects pre-manufactured hole, according to measured position deviation and workpiece theoretical coordinate, draw the coordinate of actual drilling position, then automation helical milling device is moved to actual drilling position;
3) automation helical milling device moves to behind actual drilling position, by 4 laser distance sensors (30), detect surface of the work normal direction, automatic numerical control equipment is adjusted the pose of automation helical milling device, spindle slide (16) axis is overlapped with surface of the work normal direction, and the installed surface of described 4 laser displacement sensors (30) is rectangular pyramid shape;
4) cylinder (25) is released presser feet (22) by cylinder adapter (26), makes presser feet pressure head (20) workpiece pressing;
5) according to aperture D and tool diameter d, driving moment motor (13) rotates, and makes interior eccentric adjusting sleeve (14) externally eccentric adjusting sleeve (15) rotation mutually, adjusts cutter (18) radial offset distance
, after adjustment, by hydraulic locking, keep cutter (18) offset or dish constant, described cutter (18) radial offset is 10mm apart from maximum;
6) open the second servomotor (28), by small synchronous pulley (31), Timing Belt (29), large synchronous pulley (32), drive outer eccentric adjusting sleeve (15) rotation, electric main shaft (17) will be take e and around spindle slide (16) axis, be rotated as radius; Open electric main shaft (17); Drive the first servomotor (5) to drive ball screw assembly, (3) rotation to promote spindle slide (16) and do feed motion along line slideway (6), make cutter (18) along spiral trajectory feeding, until complete drilling;
7) spindle slide (16) is return, and presser feet (22) is return, and closes the second servomotor (28), closes electric main shaft (17), and automatic numerical control equipment moves to the next position drilling or stops.
5. a kind of automation method for helically milling hole according to claim 4, is characterized in that described automatic numerical control is equipped for industrial robot or Digit Control Machine Tool.
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| CN201210300281.3A CN102794491B (en) | 2012-08-22 | 2012-08-22 | Device and method of automatic helical milling of hole |
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| CN201210300281.3A CN102794491B (en) | 2012-08-22 | 2012-08-22 | Device and method of automatic helical milling of hole |
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| CN102794491A CN102794491A (en) | 2012-11-28 |
| CN102794491B true CN102794491B (en) | 2014-05-07 |
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| CN101786180A (en) * | 2010-03-31 | 2010-07-28 | 南京航空航天大学 | Spiral hole milling device and method |
| CN102049555A (en) * | 2011-01-14 | 2011-05-11 | 天津大学 | Spiral hole milling unit |
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| US20010047219A1 (en) * | 2000-02-01 | 2001-11-29 | Erik Oden | Method of machining a multi-layer workpiece |
| ES2337057T3 (en) * | 2003-06-26 | 2010-04-20 | Novator Ab | ORBITAL MECHANIZATION DEVICE WITH DRAGGING ELEMENT WITH DRAGING PLUGS. |
| EP2164665A4 (en) * | 2007-07-05 | 2010-06-30 | Novator Ab | An orbital drilling tool unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101786180A (en) * | 2010-03-31 | 2010-07-28 | 南京航空航天大学 | Spiral hole milling device and method |
| CN102049555A (en) * | 2011-01-14 | 2011-05-11 | 天津大学 | Spiral hole milling unit |
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